CN111554103A - Vehicle speed control method and device based on fuzzy control and vehicle speed control system - Google Patents
Vehicle speed control method and device based on fuzzy control and vehicle speed control system Download PDFInfo
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Abstract
The invention relates to a vehicle speed control method, a vehicle speed control device and a vehicle speed control system based on fuzzy control, belonging to the technical field of vehicle control. In addition, the invention can realize accurate and timely control of the vehicle speed, has short regulation time, better control effect, high control precision and strong adaptability.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle speed control method and device based on fuzzy control and a vehicle speed control system.
Background
At present, when a vehicle runs on a road, overspeed or overload of the vehicle can affect the road, overspeed and overload can increase the strain force on the road, and the road can be damaged and the maintenance cost of the road can be increased as the flow of the vehicle running on the road is increased and the road bears larger strain force for a long time. Therefore, the traffic management part sets a fixed station on the road to detect the overspeed and overload conditions of the running vehicle, but the method cannot effectively prevent the overspeed and overload conditions of the vehicle on the road section, and further cannot avoid the adverse effect of the overspeed and overload of the vehicle on the road surface.
In the prior art, overspeed control of vehicles is single control, for example, an overspeed control device disclosed in chinese patent application with publication No. CN109515412A automatically brakes when a vehicle is running at overspeed, and has the disadvantage that when a given speed limit value for judging whether the vehicle is running at overspeed is set, influence of load bearing of the vehicle, such as no load and full load, on a road surface is not considered, but the same given speed limit value is adopted to judge whether the vehicle is running at overspeed regardless of the load bearing of the vehicle, and influence of the vehicle on strain force on the road surface under different loads and different speeds is not considered.
Disclosure of Invention
The invention aims to provide a vehicle speed control method and device based on fuzzy control, which are used for solving the problem that different degrees of overspeed of a vehicle under different loads generate different stress on a road surface in the prior art; also, a vehicle speed control system of a vehicle is provided to solve the above problems.
Based on the above purpose, a vehicle speed control method based on fuzzy control has the technical scheme as follows:
acquiring the actual speed and the actual load of the vehicle; determining the vehicle speed when the road surface strain force is minimum according to the relationship between the road surface strain force and the vehicle speed and the load and combining the actual load, and determining the vehicle speed set value according to the vehicle speed when the road surface strain force is minimum;
calculating a vehicle speed deviation value between the vehicle speed set value and the actual vehicle speed, and calculating a load deviation value between a set load set value and the actual load;
fuzzifying the vehicle speed deviation value and the load deviation value to obtain a first group of fuzzy input quantities, carrying out fuzzy reasoning on the first group of fuzzy input quantities according to a set first fuzzy control rule to obtain a first fuzzy value, and carrying out defuzzification processing on the first fuzzy value to obtain a first vehicle speed adjusting value of the vehicle;
and adjusting the speed of the vehicle according to the first vehicle speed adjusting value.
Based on the purpose, one technical scheme is as follows:
comprising a memory and a processor, and a computer program stored on the memory and running on the processor, the processor being coupled to the memory, the processor implementing the fuzzy control based vehicle speed control method described above when executing the computer program.
The two technical schemes have the beneficial effects that:
the vehicle speed control method of the invention determines a vehicle speed set value corresponding to the actual load of the vehicle according to the relation between the strain force of the road surface and the vehicle speed and the load, so that the strain force of the road surface is minimum, and if the vehicle speed can drive according to the vehicle speed set value, the effect of minimum damage to the road surface can be achieved; because the load of the vehicle also affects the road surface damage, the vehicle speed needs to be adjusted in consideration of different loads so as to reduce the strain force of the road surface; based on the consideration, the invention takes the vehicle speed deviation value between the vehicle speed set value and the actual vehicle speed and the load deviation value between the load set value and the actual load as the input quantity for fuzzy control, fuzzifies the input quantity, performs fuzzy reasoning on the input quantity according to the set first fuzzy control rule, and performs defuzzification processing to finally obtain a vehicle speed adjusting value, and adjusts the vehicle speed according to the vehicle speed adjusting value, thereby realizing the combined control of the on-line adjustment and overspeed overload of the vehicle under different loads, not only reducing the dynamic load effect of the vehicle on the road surface (representing the influence of the dynamic load effect by strain force), prolonging the service life of the road surface, but also ensuring the safe running of the vehicle and ensuring the personal safety of drivers and passengers in the vehicle. In addition, the invention can realize accurate and timely control of the vehicle speed through fuzzy control, has short regulation time, better control effect, high control precision and strong adaptability.
In order to increase the speed regulation effect of the vehicle, further, after the vehicle starts to regulate the vehicle speed according to the first vehicle speed regulation value, when the set vehicle speed readjustment condition is met:
calculating a vehicle speed deviation value between a vehicle speed set value and an actual vehicle speed of a vehicle at the current moment, and calculating a vehicle speed deviation change value between the vehicle speed deviation value at the current moment and the vehicle speed deviation value at the previous moment;
fuzzifying the vehicle speed deviation value and the vehicle speed deviation change value to obtain a second group of fuzzy input quantity, carrying out fuzzy reasoning on the second group of fuzzy input quantity according to a set second fuzzy control rule to obtain a second fuzzy value, and carrying out defuzzification processing on the second fuzzy value to obtain a second vehicle speed adjusting value of the vehicle;
and adjusting the vehicle speed of the vehicle again according to the second vehicle speed adjusting value.
For more reasonable determination of the given load value, further, the given load value is a smaller value between the rated load of the vehicle and the limited load of the road surface on which the vehicle is located.
In order to realize the overload judgment and processing of the vehicle, further, one implementation scheme is as follows:
before fuzzy inference is carried out, the method further comprises the following steps:
and judging whether the vehicle is overloaded or not according to the load deviation value between the given load value and the actual load, and if the vehicle is overloaded, controlling an ignition switch of the vehicle to be switched off and prompting the vehicle to be overloaded.
The other implementation scheme is as follows:
and after the fuzzification processing, if the vehicle is judged to be overloaded, carrying out fuzzy reasoning and defuzzification processing, and obtaining an ignition switch turn-off instruction after the fuzzification processing.
In order to reasonably determine the set value of the vehicle speed, the method further comprises the following steps:
and acquiring a speed limit value of a road where the vehicle is located, and taking the smaller value of the speed limit value and the speed when the strain force is minimum as the speed set value.
In order to determine the relationship between the strain force of the road surface and the vehicle speed and the load, further, the relationship between the strain force of the road surface and the vehicle speed and the load is determined by the following steps:
according to experiments, the magnitude of the road surface strain force when a vehicle passes through the road surface is measured under different loads and different vehicle speed measurements, and the relationship fitting is carried out on the road surface strain force, the vehicle speed and the load to obtain the relationship between the road surface strain force, the vehicle speed and the load.
Based on the above purpose, the technical scheme of the vehicle speed control system of the vehicle is as follows:
detection means for detecting an actual vehicle speed and an actual load of the vehicle;
the controller is connected with the detection device in a collecting way and used for outputting a vehicle speed adjusting value of the vehicle according to the vehicle speed control method based on the fuzzy control when executing a computer program;
the controller is in control connection with the controllable switch circuit and/or the electronic throttle controller and is used for controlling the braking of the vehicle by controlling the controllable switch circuit so as to realize the speed adjustment of the vehicle; or the electronic throttle controller is used for controlling the throttle opening of the vehicle to realize the speed adjustment of the vehicle.
The beneficial effects of the above technical scheme are:
the vehicle speed control system of the invention utilizes the detection device to detect the actual vehicle speed and the actual load of the vehicle, the controller processes the acquired actual vehicle speed and the actual load according to the vehicle speed control method, outputs a vehicle speed adjusting value, and controls the first controllable switch circuit and/or the electronic throttle controller to realize the vehicle speed adjustment of the vehicle. The vehicle speed control system can realize the online speed regulation and overspeed and overload combined control of the vehicle under different loads, not only can reduce the dynamic load effect of the vehicle on the road surface (the dynamic load effect is represented by strain force), prolong the service life of the road surface, but also ensure the safe running of the vehicle, ensure the personal safety of drivers and passengers in the vehicle, and is favorable for delaying the fatigue damage condition of a vehicle braking device to a certain extent.
In order to realize the vehicle speed control when the vehicle is overloaded, further, the vehicle speed control system further comprises:
the second controllable switch circuit is connected with an ignition switch of the vehicle in a control mode and used for controlling the ignition switch of the vehicle to be switched off when receiving a control instruction sent by the controller when the controller judges that the vehicle is overloaded; (ii) a
And the third controllable switch circuit is in control connection with an alarm device and is used for controlling the alarm device to give an alarm to prompt the vehicle to be overloaded when receiving a control instruction sent by the controller when judging the overload.
Drawings
FIG. 1 is a flow chart of a fuzzy control based vehicle speed control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a vehicle speed control system of a vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control system for an electronic throttle in accordance with an embodiment of the present system;
FIG. 4-1 is a perspective view of a braking system of an embodiment of the system of the present invention;
FIG. 4-2 is a side view of a braking system of an embodiment of the system of the present invention;
FIG. 5 is a schematic view of a vehicle speed control apparatus of an embodiment of the apparatus of the present invention;
FIG. 6 is a schematic diagram of an automatic shift control in an embodiment of the system of the present invention;
FIG. 7 is a schematic diagram of a common mode shift schedule in an embodiment of the system of the present invention;
FIG. 8 is a schematic illustration of an economy mode shift schedule in an embodiment of the system of the present invention;
FIG. 9 is a schematic representation of a power mode shift schedule in an embodiment of the system of the present invention;
FIG. 10 is a schematic diagram of a shift timing control in an embodiment of the system of the present invention;
the reference numerals in fig. 3 described above are explained as follows:
301, an accelerator pedal position sensor; 302, an electronic throttle controller; 303, an electronic throttle; 304, an electric motor; 305, a throttle position sensor; 306, signals of other related sensors; 307, a CAN bus;
the reference numerals in the above-mentioned fig. 4-1 and 4-2 are explained as follows:
1, a base; 2, a motor; 3, a coupler; 4, rotating the disc; 5, a spring; 6, supporting the rod; 7, a vacuum booster; 8, a slide bar; 9, a rocker; 10, a living hinge; 11, a brake pedal; 12, a fastener pin; 13, a spline shaft; 14, a worm gear; 15, a worm.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The method comprises the following steps:
an embodiment of a vehicle speed control method based on fuzzy control of the present invention comprises the steps of:
as shown in fig. 1, acquiring an actual vehicle speed and an actual load of a vehicle; determining the vehicle speed when the road surface strain force is minimum according to the relationship between the road surface strain force and the vehicle speed and the load and by combining the actual load; and acquiring a speed limit value of the road where the vehicle is located, and taking the smaller value of the speed limit value and the speed when the strain force is minimum as a speed given value.
And acquiring the rated load of the vehicle and the limited load of the road surface on which the vehicle is located, and selecting the smaller value between the rated load of the vehicle and the limited load of the road surface on which the vehicle is located as the given load value.
And calculating a vehicle speed deviation value between the set vehicle speed value and the actual vehicle speed, and calculating a load deviation value between the set load set value and the actual load. And carrying out fuzzification processing on the vehicle speed deviation value and the load deviation value to obtain a first group of fuzzy input quantity.
Specifically, in the present embodiment, the basic domain of the load error (i.e., the load deviation) [ -1000,1000], the basic domain of the vehicle speed error (i.e., the vehicle speed deviation) [ -38,38], the basic domain of the controlled variable [0,90], and the domain of the fuzzy subset taken by the error variable is set to [ -2,2], and the negative size NB, the negative size NS, zero ZE, the positive size PS, and the positive size PB are respectively represented by the following grades, and are determined according to a set membership function (e.g., a triangular membership function); the universe of discourse of the fuzzy subset taken by the control quantity is [0,2], and zero Z, small S and large B are respectively represented by the following grades and are determined according to the control rule in the table 1.
In this embodiment, the quantization factor is represented by K, and the quantization factor Ke of the load error is represented by Kh0.002 for shifting the payload bias value from the base wheel domain to the fuzzy subset domain; quantization factor Ke of vehicle speed errorv0.0526, for changing the vehicle speed deviation value from the basic wheel domain to the fuzzy subset domain; the Ku scaling factor of the output control amount is 45, which is used to calculate a vehicle speed adjustment value.
According to the first fuzzy control rule obtained as shown in the table 1, a Mamdani reasoning method is adopted to carry out fuzzy reasoning on the first group of fuzzy input quantities to obtain a first fuzzy value, a gravity center method is adopted to carry out defuzzification processing on the first fuzzy value, and the vehicle speed control quantity Fu is processed1The conversion into the basic theory domain is carried out,vehicle speed control amount Fu1Adjusting parameters to obtain a first vehicle speed adjusting value of the vehicle; and adjusting the speed of the vehicle according to the first vehicle speed adjusting value.
TABLE 1
In Table 1, EhRepresenting fuzzy input quantities of fuzzy subsets taken by the payload errors, EVRepresenting the fuzzy input quantity of a fuzzy subset taken by the vehicle speed error, and when the load deviation (namely the deviation between the actual load and the set load value) is ZE and the vehicle speed deviation (namely the deviation between the actual vehicle speed and the set vehicle speed value) is NB, NS or ZE, the output variable is Z; when the load deviation is ZE and the vehicle speed deviation is PS or PB, the output variable is B; when the load deviation is NS and the vehicle speed deviation is NB, NS or ZE, the output variable is Z; when the load deviation is NS and the vehicle speed deviation is PS, the output variable is S; when the load deviation is NS and the vehicle speed deviation is PB, the output variable is B; when the load deviation is NB and the vehicle speed deviation is NB, NS or ZE, the output variable is Z; when the load deviation is NB and the vehicle speed deviation is PS, the output variable is S; when the load deviation is NB and the vehicle speed deviation is PB, the output variable is B.
In table 1, when the load deviation is PS or PB, it is determined that the vehicle is overloaded, fuzzy inference is performed, defuzzification processing is performed, an ignition switch off command is obtained after the processing, the ignition switch of the vehicle is turned off, so that the vehicle cannot be started normally, overload running is prevented, and a warning device provided in the vehicle is used to remind a driver of an overload situation.
After the vehicle starts to adjust the vehicle speed according to the first vehicle speed adjustment value, when a set vehicle speed readjustment condition (in the present embodiment, the adjustment condition is that the output variable is B in table 1) is satisfied, the vehicle speed readjustment is performed according to the following steps:
calculating a vehicle speed deviation value between a vehicle speed set value and an actual vehicle speed of a vehicle at the current moment, and calculating a vehicle speed deviation change value between the vehicle speed deviation value at the current moment and the vehicle speed deviation value at the previous moment; and carrying out fuzzification processing on the vehicle speed deviation value and the vehicle speed deviation change value to obtain a second group of fuzzy input quantity.
Specifically, in the present embodiment, the basic universe of vehicle speed error is [ -38,38 [ -38]The basic discourse range of the vehicle speed error variation is [ -31,31 [ -31]The basic discourse domain of the controlled variable is [0,90]]Let the universe of discourse of the fuzzy subset taken by the error variable be [ -2,2]Negative large NB, negative small NS, zero ZE, positive small PS, positive large PB, respectively represented by the following levels, the universe of argument of the fuzzy subset taken by the error variance is [ -2,2]Negative large NB, negative small NS, zero ZE, positive small PS, positive large PB, respectively, by the following levels, the universe of argument of the fuzzy subset taken by the control quantity is [0, 2%]Zero Z, small S, large B are represented by the following scale, respectively. The quantization factor is represented by K, and the quantization factor Ke of the vehicle speed errorv0.0526, quantization factor Kec of vehicle speed error variationv0.0645, and the Ku scaling factor of the output control amount is 45.
Performing fuzzy inference on the second group of fuzzy input quantities by adopting a Mamdani inference method according to a second fuzzy control rule set as shown in the table 2 to obtain a second fuzzy value, performing defuzzification processing on the second fuzzy value by adopting a gravity center method, and controlling the vehicle speed control quantity Fu2Shifting to basic theory domain, and controlling vehicle speed Fu2Adjusting parameters to obtain a second vehicle speed adjustment value of the vehicle; and adjusting the vehicle speed of the vehicle again according to the second vehicle speed adjusting value.
TABLE 2
In Table 2, ECvA fuzzy input quantity of a fuzzy subset which represents a vehicle speed error variable quantity, wherein the vehicle speed error variable quantity refers to a vehicle speed deviation variable quantity between a vehicle speed deviation at the current moment and a vehicle speed deviation at the previous moment; eVA fuzzy input quantity of a fuzzy subset taken by representing the vehicle speed error; when the vehicle speed deviation and the vehicle speed deviation variable quantity are NB, NS or ZE, the output variable is Z; when the vehicle speed deviation is PS and PB and the vehicle speed deviation variable quantity is NB, the output variable is Z; when the vehicle speed deviation is PS and the vehicle speed deviation variation is NSIf the output variable is Z; when the vehicle speed deviation is NB and the vehicle speed deviation variable quantity is PS and PB, the output variable quantity is Z; when the vehicle speed deviation is NS and the vehicle speed deviation variable quantity is PS, the output variable is Z; when the vehicle speed deviation is NS, ZE, PS and PB and the vehicle speed deviation variation is PB, PS, ZE and NS, the output variable is S; when the vehicle speed deviation is PB and the vehicle speed deviation variable quantity is ZE, the output variable is S; when the vehicle speed deviation is ZE, PS and PB and the vehicle speed deviation variation is PB, PS and PS, the output variable is B; when the vehicle speed deviation is PS, PB and the vehicle speed deviation variation is PB, the output variable is B.
In this embodiment, the output variable B of the fuzzy control rule in table 1 is used as the vehicle speed readjusting condition, and as another embodiment, the vehicle speed may be readjusted again by determining the magnitude of the first vehicle speed adjustment value when the first vehicle speed adjustment value is greater than or equal to a certain set speed regulation threshold.
In this embodiment, the relationship between the road surface strain and the vehicle speed and the load is determined by the following steps:
according to the experimental contents in the treatise on the field test research on the influence of the vehicle speed and the load on the road surface structure, the magnitude of the stress of the road surface when the rear wheel of the vehicle passes through the road surface is measured under the measurement of different vehicle speeds under different loads, and the statistical data are shown in tables 3 and 4.
TABLE 3
TABLE 4
According to the comparison of the strain force values of the sensors under the front wheel and the rear wheel, the sensor value of the rear wheel is generally far larger than that of the front wheel, so that the data of the sensors of the rear wheel are used as the reference for fitting when the relation between the strain force of the road surface and the vehicle speed and load is fitted. Through data observation, the distribution positions of the sensors are different, the values of the sensors under different speeds and different loads are different, when the vehicle speed and the load are changed, the maximum strain force values of the 7 sensors are the No. 2, No. 4 and No. 7 sensors, and the No. 7 sensor is the maximum value when the load is 420kN, namely 420kN is the overload moment, the actual condition of the patent is considered, once an overloaded vehicle cannot run, the maximum value condition of the No. 7 sensor is not considered; through the comparison between the No. 2 sensor and the No. 4 sensor, the most probable condition is changed from the No. 2 sensor to the No. 4 sensor along with the increase of the load, but the difference between the stress values of the No. 2 sensor and the stress values of the No. 4 sensor is very small, so in the embodiment, when the relation between the stress values and the speed load is fitted, the detection data of the No. 2 sensor is adopted for fitting, the relation between the strain force of the road surface and the speed and load is obtained, and a corresponding fitting equation is formed as follows:
in the formula, z represents a strain force, x represents a vehicle speed, and y represents a load.
As another embodiment, the above-mentioned field test is performed under different road surface materials, and the relationship between the strain force, the vehicle speed and the load of the road surface under different road surface materials is obtained; as another embodiment, the influence of weather conditions on the relation equation may also be considered, for example, in rainy days and sunny days, field tests are respectively performed to obtain the relations between the strain force of the road surface, the vehicle speed and the load under different weather conditions; in other embodiments, the relationship between the strain force and the vehicle speed and the load can be determined by considering different road surface materials and different weather influences.
In this embodiment, after the vehicle overload is judged through fuzzification processing, fuzzy reasoning and defuzzification are performed to generate an ignition switch off instruction, as another embodiment, the judgment can also be performed in other manners, that is, without using fuzzy control, whether the vehicle is overloaded or not is directly judged according to the load deviation value between the load set value and the actual load, and if the vehicle is judged to be overloaded, the ignition switch of the vehicle is controlled to be turned off, and the vehicle overload is prompted.
In this embodiment, the basic universe of discourse value ranges of the load capacity error, the vehicle speed error and the vehicle speed error variation are obtained empirically, and as other implementation manners, other value ranges can be adopted; similarly, the range of values of the universe of discourse of the fuzzy subset taken by the load capacity error, the vehicle speed error and the vehicle speed error variation can also be properly changed according to the situation, for example, the universe of discourse is [ -3,3], and the corresponding classification is seven levels; similarly, the universe of argument of the fuzzy subset taken by the control quantity can be changed according to experience, for example, the universe of argument is [0,3], the corresponding classification is four levels, and one implementation mode is zero Z, small S, second largest 1B, and large B; when the rules in the table 1 are formulated, the corresponding control quantity can be determined according to the magnitude of the vehicle speed error and the magnitude of the load capacity error; similarly, when the rule in table 2 is formulated, the corresponding control amount may be determined according to the magnitude of the vehicle speed error in combination with the magnitude of the variation in the vehicle speed error.
In this embodiment, the specific method of fuzzy inference adopts a Mamdani inference method, and as other embodiments, other existing fuzzy inference methods, such as a Larsen inference method, a Zadeh inference method, and the like, may also be adopted; similarly, in addition to the center-of-gravity method, other methods for performing defuzzification processing, such as the maximum membership method and the median method, may also be used.
In this embodiment, one method of adjusting the parameters is to control the vehicle speed (Fu)1，Fu2) Multiplying by a scaling factor Ku to obtain a corresponding vehicle speed adjusting value; in another embodiment, the vehicle speed control amount (Fu)1，Fu2) And multiplying the vehicle speed by a scaling factor Ku and then multiplying the vehicle speed by a set reference increment delta Uref to obtain a corresponding vehicle speed adjusting value.
The vehicle speed control method can realize optimal online speed regulation and optimal combined control of overspeed and overload of the vehicle under different loads through one or two times of vehicle speed regulation. When the first vehicle speed adjusting value is not very large, namely the vehicle overspeed is not too serious, the vehicle speed can be well controlled according to the first vehicle speed adjusting value without adjusting the vehicle speed again; when the first vehicle speed adjusting value is large, namely the vehicle overspeed is serious, the vehicle speed needs to be adjusted quickly and greatly, so that after the speed is adjusted according to the first vehicle speed adjusting value, the vehicle speed deviation value between the vehicle speed set value and the actual vehicle speed of the vehicle at the current moment and the vehicle speed deviation change value between the vehicle speed deviation value at the current moment and the vehicle speed deviation value at the previous moment are immediately detected, fuzzy control is performed, the vehicle speed is adjusted according to the second vehicle speed adjusting value, and the vehicle speed can be quickly reduced to a reasonable range through two times of vehicle speed adjustment.
As another embodiment, if the vehicle speed is adjusted by only the first vehicle speed adjustment value on a lane where the traffic flow is not dense, the dynamic load effect of the vehicle on the road surface can be reduced, the damage degree to the road surface can be controlled, and the driving safety can be ensured, without readjustment by the second vehicle speed adjustment value.
It should be noted that, although the vehicle speed control method of the present invention employs two vehicle speed adjustments to achieve a rapid speed reduction of the vehicle speed, the two vehicle speed adjustments may be performed simultaneously in terms of time, that is, after the first vehicle speed adjustment is started according to the first vehicle speed adjustment value, the second vehicle speed adjustment may be performed according to the second vehicle speed adjustment value.
The embodiment of the system is as follows:
the present embodiment proposes a vehicle speed control system of a vehicle, as shown in fig. 2, including:
a detection device including a load sensor for detecting an actual load of the vehicle; a vehicle speed sensor for detecting an actual vehicle speed of the vehicle; an engine speed sensor for detecting an engine speed of the vehicle; a throttle position sensor for detecting a throttle opening of the vehicle; and the camera device is used for detecting an image of a road in front of the vehicle.
And the input end of the A/D conversion unit is connected with the detection device, and the output end of the A/D conversion unit is connected with the controller and is used for carrying out analog/digital conversion.
And the controller collects the connection detection device and is used for outputting the vehicle speed adjusting value of the vehicle according to the vehicle speed control method based on the fuzzy control when executing the computer program.
And the input end of the D/A conversion unit is connected with the controller, and the output end of the D/A conversion unit is used for controlling and connecting the electronic throttle controller, the first controllable switch circuit, the second controllable switch circuit and the third controllable switch circuit.
And the controller is in control connection with the electronic throttle controller and is used for controlling the throttle opening of the vehicle through the electronic throttle controller so as to reduce the rotating speed of the engine and realize the first adjustment of the vehicle speed. The control system of the electronic throttle valve is shown in fig. 3 and comprises an electronic throttle valve controller 302, wherein the electronic throttle valve controller 302 is used for acquiring a pedal signal of an accelerator pedal position sensor 301, acquiring a regulating signal of the throttle valve opening degree through a CAN bus 307 and acquiring signals 306 of other related sensors, the signals 306 of the related sensors are used for acquiring the driving condition of a vehicle, and the electronic throttle valve controller 302 is connected with a throttle valve position sensor 305 for acquiring the current throttle valve opening degree; the electronic throttle controller 302 is connected with the motor 304 for controlling the motor 304 according to the acquired throttle opening adjusting signal, the pedal signal and the current throttle opening, so as to realize the opening adjustment of the electronic throttle 303. In the present embodiment, the electronic throttle 303 can realize pedal characteristic control, favorable driving characteristic control, comfortable vehicle speed control, engine speed limit control, torque reduction control, cruise control, and the like, which are required based on different pedal senses of the driver.
The working principle is as follows: the control unit samples the input analog signal, then the control unit carries out comprehensive analysis and calculation according to the running condition of the vehicle to obtain an expected throttle opening value, and outputs a corresponding control signal to the driving motor, and a throttle valve plate reaches an expected position under the action of the driving motor. In the whole control process, the throttle position sensor continuously feeds back a throttle opening signal to the control unit, and the control unit continuously compares and corrects the obtained opening signal with a target value until an actual throttle opening value reaches a position corresponding to an expected throttle opening value.
In this embodiment, the controller is connected to the first controllable switch circuit in a control manner, and is configured to control the braking system of the vehicle by controlling the first controllable switch circuit, so as to implement a second adjustment of the vehicle speed. In this embodiment, a braking system is a braking rotary disc as shown in fig. 4-1 and 4-2, and the braking rotary disc is composed of a base 1, a motor (i.e., an ac/dc motor) 2, a coupler 3, a rotary disc 4, a spring 5, a support rod 6, a vacuum booster 7, a slide rod 8, a rocker 9, a movable hinge 10, a brake pedal 11, a fastener pin 12, a spline shaft 13, a worm wheel 14 and a worm 15.
The working principle of the brake turntable is that a motor 2 is fixed on a base 1, the motor 2 is connected with a worm wheel 14 and a worm 15, a rotating shaft of the motor 2 is connected with the worm 15 through a coupler 3, the center of the worm wheel 14 is provided with a clamping groove, the clamping groove is connected with the center of a turntable 4 through a spline shaft 13, the clamping groove which is the same as the worm wheel 14 is arranged at the center of the turntable 4, synchronous rotation with the worm wheel 14 is realized, three springs 5 are arranged on the turntable 4 and distributed at 120 degrees, one end of each spring 5 is fixed on the surface of the turntable 4 through a fastener pin 12, the other end of each spring is fixed on the surface of the base 1, one end of a support rod 6 is fixed on the surface of the turntable 4, the other end of each support rod is hinged with a rocker 9 through a movable hinge 10, the rocker 9 is connected with a slide rod 8, the range of motion starts to rotate anticlockwise from 90 degrees to 180 degrees, and the circular motion of the rotary table is converted into the linear motion of the sliding rod 8, so that the work of the vacuum booster is realized.
The rotary table 4 is connected with the motor 2, when the fuzzy control output is not zero, the controller controls the first controllable switch circuit to be switched on, the motor 2 starts to operate to drive the rotary table 4 to rotate the angle to be adjusted (realized by controlling the power-on time of the alternating current and direct current motor), when the fuzzy control output is zero, the controller controls the first controllable switch circuit to be switched off, the motor 2 stops operating, and the rotary table 4 automatically restores the original position due to the action of the spring force. In this embodiment, when the fuzzy control output adjustment dial 4 rotates, the pedal movement is not affected, i.e. the driver's own active braking behavior, and the two are not mutually exclusive.
In this embodiment, the second controllable switch circuit controls an ignition switch connected to the vehicle, and is configured to receive a control instruction sent by the controller through the CAN bus and control the ignition switch of the vehicle to be turned off, so as to prevent the vehicle from running in an overload state;
in this embodiment, the third controllable switch circuit is connected to an alarm device for receiving a control command sent by the controller through the CAN bus and controlling the alarm device to perform an audible and visual alarm to prompt the vehicle to be overloaded. In this embodiment, the warning device includes a buzzer and a display lamp, and informs the driver of the overload phenomenon in an audible and visual manner, so that the driver can unload the vehicle until the load capacity standard is met. The alarm device of the third controllable circuit not only can prompt the vehicle to overload, but also needs to give an alarm to prompt the driver to manually shift down when the system of the manual transmission vehicle is reduced to the lowest vehicle speed under the gear and still does not meet the reference vehicle speed when the manual transmission vehicle is decelerated.
In table 1 of the method embodiment, when the load deviation is PS or PB, no matter what the vehicle speed deviation is, the output control is directly applied to the second controllable switch circuit and the third controllable switch circuit to turn off the ignition switch, so that the vehicle cannot be started normally to prevent overload running, and the warning device is applied to remind the driver of the overload condition.
The vehicle speed adjustment according to the vehicle speed control method described above involves downshift control according to the first vehicle speed adjustment value or the second vehicle speed adjustment value, and in particular, may be performed according to two types of vehicles, i.e., a manual vehicle and an automatic vehicle.
The overspeed is a speed that does not exceed the predetermined speed of the running road, compared to the reference speed at a constant load. Because the vehicle is a manual gear vehicle, each gear corresponds to a corresponding vehicle speed, when the load is constant, the vehicle speed exceeds the reference vehicle speed, but the vehicle speed is reduced to the lowest vehicle speed of the gear and does not reach the reference vehicle speed corresponding to the load, and at the moment, the driver needs to be reminded to perform downshift operation so as to continuously reduce the vehicle speed until the reference vehicle speed corresponding to the load is reached. Therefore, for a manual transmission vehicle, a gear sensor is required to be added into a detection device, standard vehicle speed of each gear needs to be stored in a database, gear information in a driving state is detected, the standard vehicle speed is obtained and compared with a given standard speed limit value in a driving environment, when an error is positive, the error is input into a fuzzy controller, the output of the fuzzy controller directly acts on an alarm device through a third controllable switch circuit, and a buzzer and a display lamp are used for telling a driver that the vehicle is overspeed so as to perform downshift operation.
For another example, for an automatic transmission vehicle, the control principle is as shown in fig. 6, the fuzzy control signal is transmitted to the electronic throttle controller, and the ECU selects a corresponding shift map from the ROM memory according to the throttle opening and the vehicle speed parameter to be adjusted, and according to the positions of the shift switch and the mode switch, determines whether the current optimal shift point is reached through calculation and comparison. If the optimal shift point is reached, the ECU outputs a shift control signal to the relevant shift solenoid valve to enable the shift execution mechanism to complete automatic shifting.
The mode switch is used for providing different gear shifting rules (control modes) for a driver according to conditions, and common control modes comprise: 1) economy mode 2) power mode 3) normal mode 4) manual mode 5) snow mode; the shift schedule of the normal mode is shown in fig. 7, the shift schedule of the economy model is shown in fig. 8, and the shift schedule of the power mode is shown in fig. 9. The gear shifting time is determined according to the relation between the gear shifting time of the transmission and the vehicle speed, the opening degree of a throttle valve and other parameters, the optimal gear shifting point is an up-shifting and down-shifting curve in a gear shifting rule graph, corresponding to the corresponding vehicle speed and the opening degree of the throttle valve, and the rotation speed detection of an output shaft is mainly used for further optimizing the oil circuit pressure control process and the control process of a locking clutch so as to improve the gear shifting feeling and improve the driving speed of the vehicle.
The control process of the gear shifting timing is shown in fig. 10, the automatic gear shifting is realized by taking the vehicle speed and the throttle opening as control parameters, converting the change of the vehicle speed and the throttle opening into a control signal of the change of the oil hydraulic pressure, inputting the control signal into a corresponding control system, automatically selecting the optimal gear shifting point along with the change of the control parameters according to the requirement of the gear shifting rule, sending a gear shifting signal, changing the working state of a hydraulic control system, controlling the pumping pressure of an oil pump to meet the working requirement of each system of the automatic transmission (automatically controlling the ascending and descending of gears through a gear shifting control valve), controlling the circulation and cooling of the hydraulic oil in a torque converter (one part is used for controlling the work of the system, and the other part is sent to the torque converter or a designated gear shifting execution element under the control of the control system and used for operating the torque converter and the gear shifting execution element), and controlling the work of a locking clutch in the torque converter (realizing the work Damping control) to achieve an automatic shift operation of the vehicle.
In this embodiment, the controller obtains a vehicle speed set value and a load set value through a database, where the database includes vehicle speed upper limit values and load upper limit values in various driving environments, and establishes a relational expression between a dynamic load effect (specifically, a strain force) of the vehicle on a road surface and a load capacity and a driving speed, and calculates a driving speed recommended value under an optimal dynamic load effect (i.e., when the strain force is minimum) according to different loads, and compares the driving speed recommended value with speed limit values (vehicle speed upper limit values) in various driving environments to obtain a smaller value, and outputs the smaller value as a target vehicle speed set value. The load sensor and the speed measuring sensor transmit the result to the next stage, a camera device arranged on the vehicle acquires the image in front of the vehicle road in real time, after strengthening and denoising, transmitting the processed image to a database, comparing the given value of the road environment of the vehicle with the data measured by a load sensor and a speed measuring sensor by the database, generating an error signal, transmitting the error signal to a controller after analog-to-digital conversion, generating a control decision (equivalent to the vehicle speed control quantity after defuzzification) by the controller according to a set fuzzy control rule, performing digital-to-analog conversion on the control decision, the control quantity after decision conversion is transmitted to a corresponding controllable switch circuit and an electronic throttle controller through a CAN bus, and the rotation angle of an ignition switch, an alarm device and a brake turntable and the opening of an engine throttle are properly controlled.
In this embodiment, the camera device is used to capture the image of the front of the vehicle road, and as another embodiment, any one or a combination of the infrared detection device, the camera device, and the ultrasonic image capturing device may be used to capture the image of the front of the vehicle road in real time.
In the embodiment, the vehicle speed is adjusted for the first time by controlling the opening of the throttle valve, and the vehicle speed is adjusted for the second time by controlling the brake turntable; in another embodiment, the vehicle speed may be adjusted for the first time by controlling the brake dial, and the vehicle speed may be adjusted for the second time by controlling the brake dial and the throttle opening in combination.
The vehicle speed control system has the following advantages:
(1) according to the invention, the relation between the dynamic load effect and the load and the speed is obtained through dynamic load effect research experiments on the road surface generated by different loads and different speeds of the vehicle, the effective limitation of the vehicle to the vehicle speed under different loads on a good road surface is realized by utilizing fuzzy control, the dynamic load effect of the vehicle to the road surface is reduced, the personal safety of a driver and passengers is ensured, the vehicle speed is regulated through the opening of a throttle valve preferentially when the vehicle speed is regulated for the first time, the use times of the vehicle braking device are reduced to a certain extent, and the fatigue damage condition of the vehicle braking device is favorably delayed.
(2) The invention simulates the control idea of a human by using a fuzzy control algorithm, can realize the online monitoring of the change of the vehicle speed under different loads so as to adjust the vehicle speed, prevent the vehicle from overspeed and overload and ensure the safe operation of the vehicle.
(3) The method utilizes a series of characteristics of strong robustness of a fuzzy control algorithm, small influence by external interference, easy establishment of language control rules and the like, is very suitable for objects with difficult acquisition of mathematical models and difficult mastering or obvious change of dynamic characteristics, and can realize accurate and timely control; the method has the advantages of short adjusting time, good control effect, high control precision and strong adaptability.
(4) The invention can realize the simultaneous action of vehicle braking and vehicle deceleration, the two do not interfere with each other, and the aim of effectively controlling the vehicle speed is achieved while the safe braking of the vehicle is ensured.
The embodiment of the device is as follows:
the embodiment provides a vehicle speed control device based on fuzzy control, which comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor is coupled with the memory, and the processor executes the computer program to realize the vehicle speed control method based on fuzzy control in the method embodiment.
That is, the method in the above method embodiments should be understood that the flow of the image segmentation method may be implemented by computer program instructions. These computer program instructions may be provided to a processor (e.g., a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus), such that the instructions, which execute via the processor, create means for implementing the functions specified in the method flow.
Specifically, as shown in fig. 5, the vehicle speed control device may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) and memories, and one or more storage media storing applications or data. The memory and storage medium may be, among other things, transient or persistent storage. The program stored on the storage medium may include one or more modules (not shown), each of which may include a sequence of instructions operating on a data processing device. Further, the processor may be configured to communicate with the storage medium to execute a series of instruction operations in the storage medium on the image processing apparatus.
The vehicle speed control apparatus of the present embodiment may further include one or more power sources, one or more wired or wireless network interfaces, one or more input/output interfaces, and/or one or more operating systems. Such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The processor referred to in this embodiment refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA.
The memory referred to in this embodiment includes a physical device for storing information, and generally, information is digitized and then stored in a medium using an electric, magnetic, optical, or the like. For example: various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, and U disk; various types of memory, CD or DVD, that store information optically. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth.
As another embodiment, the vehicle speed control apparatus of the present embodiment may further include a display for displaying the first vehicle speed adjustment value and the second vehicle speed adjustment value.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A vehicle speed control method based on fuzzy control, characterized by comprising the steps of:
acquiring the actual speed and the actual load of the vehicle; determining the vehicle speed when the road surface strain force is minimum according to the relationship between the road surface strain force and the vehicle speed and the load and combining the actual load, and determining the vehicle speed set value according to the vehicle speed when the road surface strain force is minimum;
calculating a vehicle speed deviation value between the vehicle speed set value and the actual vehicle speed, and calculating a load deviation value between a set load set value and the actual load;
fuzzifying the vehicle speed deviation value and the load deviation value to obtain a first group of fuzzy input quantities, carrying out fuzzy reasoning on the first group of fuzzy input quantities according to a set first fuzzy control rule to obtain a first fuzzy value, and carrying out defuzzification processing on the first fuzzy value to obtain a first vehicle speed adjusting value of the vehicle;
and adjusting the speed of the vehicle according to the first vehicle speed adjusting value.
2. The fuzzy-control-based vehicle speed control method as claimed in claim 1, wherein after the vehicle starts to adjust the vehicle speed according to said first vehicle speed adjustment value, when a set vehicle speed readjustment condition is satisfied:
calculating a vehicle speed deviation value between a vehicle speed set value and an actual vehicle speed of a vehicle at the current moment, and calculating a vehicle speed deviation change value between the vehicle speed deviation value at the current moment and the vehicle speed deviation value at the previous moment;
fuzzifying the vehicle speed deviation value and the vehicle speed deviation change value to obtain a second group of fuzzy input quantity, carrying out fuzzy reasoning on the second group of fuzzy input quantity according to a set second fuzzy control rule to obtain a second fuzzy value, and carrying out defuzzification processing on the second fuzzy value to obtain a second vehicle speed adjusting value of the vehicle;
and adjusting the vehicle speed of the vehicle again according to the second vehicle speed adjusting value.
3. The fuzzy-control-based vehicle speed control method according to claim 1, wherein said load given value is a smaller value between a rated load of the vehicle and a limit load of a road surface on which the vehicle is located.
4. The vehicle speed control method based on the fuzzy control according to claim 1 or 3, characterized by further comprising, before the fuzzy inference, the steps of:
and judging whether the vehicle is overloaded or not according to the load deviation value between the given load value and the actual load, and if the vehicle is overloaded, controlling an ignition switch of the vehicle to be switched off and prompting the vehicle to be overloaded.
5. The vehicle speed control method based on fuzzy control according to claim 1 or 3, wherein after the fuzzification processing, if the vehicle is determined to be overloaded, fuzzy inference and defuzzification processing are performed to obtain an ignition switch off command.
6. The fuzzy control-based vehicle speed control method according to claim 1 or 2, further comprising the steps of:
and acquiring a speed limit value of a road where the vehicle is located, and taking the smaller value of the speed limit value and the speed when the strain force is minimum as the speed set value.
7. The vehicle speed control method based on the fuzzy control according to claim 1 or 2, wherein the relationship between the strain force of the road surface and the vehicle speed, the load is determined by:
according to experiments, the magnitude of the road surface strain force when a vehicle passes through the road surface is measured under different loads and different vehicle speed measurements, and the relationship fitting is carried out on the road surface strain force, the vehicle speed and the load to obtain the relationship between the road surface strain force, the vehicle speed and the load.
8. A vehicle speed control apparatus based on fuzzy control, comprising a memory and a processor, and a computer program stored on the memory and running on the processor, the processor being coupled to the memory, the processor implementing the vehicle speed control method based on fuzzy control according to any one of claims 1 to 7 when executing the computer program.
9. A vehicle speed control system of a vehicle, characterized by comprising:
detection means for detecting an actual vehicle speed and an actual load of the vehicle;
a controller, which is connected with the detection device and is used for outputting a vehicle speed adjusting value of the vehicle according to the vehicle speed control method based on fuzzy control as claimed in any one of claims 1-5 when executing a computer program;
the controller is in control connection with the controllable switch circuit and/or the electronic throttle controller and is used for controlling the braking of the vehicle by controlling the controllable switch circuit so as to realize the speed adjustment of the vehicle; or the electronic throttle controller is used for controlling the throttle opening of the vehicle to realize the speed adjustment of the vehicle.
10. The vehicle speed control system of a vehicle according to claim 9, characterized by further comprising:
the second controllable switch circuit is connected with an ignition switch of the vehicle in a control mode and used for controlling the ignition switch of the vehicle to be switched off when receiving a control instruction sent by the controller when the controller judges that the vehicle is overloaded;
and the third controllable switch circuit is in control connection with an alarm device and is used for controlling the alarm device to give an alarm to prompt the vehicle to be overloaded when receiving a control instruction sent by the controller when judging the overload.
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| CN116181899A (en) * | 2023-04-26 | 2023-05-30 | 中国第一汽车股份有限公司 | Gear shifting control method, device, equipment and medium |
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